CN100488149C - Intelligent housekeeper system and multiple networks single-point accessing integration method - Google Patents

Intelligent housekeeper system and multiple networks single-point accessing integration method Download PDF

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Publication number
CN100488149C
CN100488149C CNB2007101779732A CN200710177973A CN100488149C CN 100488149 C CN100488149 C CN 100488149C CN B2007101779732 A CNB2007101779732 A CN B2007101779732A CN 200710177973 A CN200710177973 A CN 200710177973A CN 100488149 C CN100488149 C CN 100488149C
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China
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central controller
interface
processor
actuator
robot
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CNB2007101779732A
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Chinese (zh)
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CN101159093A (en
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杨蕾
刘经纬
苏宏伟
刘畅
于佳璐
陈雪
陈佳明
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北京工业大学
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Abstract

The invention relates to an intelligent household nurse system and a multi-network single point access integration method. The invention can be used for the fields such as intelligent building household and huge risk operation, etc. The invention comprises a center controller, a robot terminal performer, a remote control terminal and an equipment terminal performer. The invention can facilitates PDA, computers or mobile phones to help the user to implement remote household through Internet or the mobile phone networks of GSM, CDMA and 3G when nobody is at home. A moveable small robot can look around each corner of a house, collect signals such as temperature signals, etc., collect family images and voice information and implement emergency disposal of sudden events. When being used for the operations implemented under toxic, harmful and dangerous environments, the invention can substitute for the user to collect image information and switch power supply under the dangerous environment. The small robot also can be used for survey and the operations of heavy-current switch quantity and analog quantity power output and particularly be used for the rescue and pipeline operation.

Description

Smart Home nurse system and many networks single-point accessing integration method
Technical field
The present invention proposes a kind of Smart Home nurse system and many networks single-point accessing integration method, can be applied to fields such as intelligent building household, intelligent monitoring, pipe robot, high-risk operation.
Background technology
In recent years, with the developed country's Robotics fast development headed by the Japan, new services robots such as accompanying dancer robot, the announcer of robot, the jockey of robot, " sense of taste " robot are arranged, use widely and vast potential for future development for people have showed service robot.From whole world robot state of development, service robot does not also have uniform definition at present, refer to be used to finish autonomous or half autonomous robot to the useful service (except the manufacturing operation) of human welfare and equipment in the definition of China's service robot, mainly comprise: clean robot, domestic robot, amusement robot, medical and healing robot, old age and nursing for disabled persons robot, office and logistics service robot, disaster relief robot, sell goods in the hotel and dining room service robot etc.
The net control device that exists both at home and abroad often all is to select particular network to be designed according to concrete application at present.And the intelligent domestic equipment in the real life, proposed to realize in time the demand of very-long-range control on hand nearby, also do not existed a kind of at present in the world: the method that can satisfy the unified control of multiple network such as GSM, CDMA, 3G, WiFi, LAN, Internet for same equipment simultaneously by all networks that can look for.
Summary of the invention
The objective of the invention is to overcome the above-mentioned defective of existing robot and solve the demand of the unified control of many networks, a kind of leading Smart Home nurse (Intelligent Home Assistant is provided, be called for short IHA) system and many networks single-point access integrated (Muti-net Single Access Integration is called for short MSAI) method.
The present invention has designed a kind of intelligent apparatus---and one of the purpose of " Smart Home nurse " is to solve owner to stay out when middle, to the uncontrollable problem of electric equipment in the family, for example owner is when working unit, can't realize long-range heat up water, heat water for bathing, switch air-conditioning, curtain etc., can't learn information such as temperature in the family, video/audio information in can't getting home also can't be carried out the problem of emergency treatment (cut-off power supply by force, open the door, lock a door) to accident.
Two of purpose of the present invention is to solve the human problem that can't work in poisonous and harmful and hazardous environment, but can replace people images acquired information, Switching Power Supply, remote control equipment in dangerous environment by robot, the present invention simultaneously also operates for the exploration and forceful electric power switching value, the output of analog quantity power that solve under the hazardous environment, particularly is applied in the environment that the mankind such as rescue and pipeline operations can't work in person.
The present invention has designed a kind of many networks single-point and has inserted integrated (Muti-net Single Access Integration, be called for short MSAI) method, purpose is to solve people in the course of the work, owing to be subjected to the constraint of job site, can't make full use of the problem of existing communication tool realization Long-distance Control in the hand, the diverse network that the method that the present invention proposes can make people utilize and exist is at one's side realized monitoring in real time.
To achieve these goals, the present invention has taked following technical scheme: include central controller 1, robot terminal actuator 2, remote control terminal 3 and device end actuator 4.Wherein:
Central controller 1 includes central controller processor 1.1, digital video interface 1.2, Video Decoder 1.3, video simulation interface 1.4, wireless camera receiver 1.5, memory interface 1.6, serial ports 0, Ethernet interface 1.8, serial ports 1, serial ports 2, LCD interface 1.11, liquid crystal display screen 1.12, wireless communication module 1.13, debugging interface 1.14, debugging acid 1.15, memory 1.16, robot wireless sending module 1.17, cell phone network Modem1.18 and wireless router 1.19.Wherein:
Central controller processor 1.1 is by video simulation interface 1.4, wireless camera receiver 1.5 links to each other with wireless camera 2.2 in the robot terminal actuator, wireless camera receiver 1.5 in the central controller 1 receives the video wireless signal that is sent by robot terminal actuator 2, and be translated into the normal video analog signal, insert video simulation interface 1.4, the other end of video simulation interface 1.4 links to each other with Video Decoder 1.3, with analog signal through over-sampling, decoding is sent into central controller processor 1.1 through the digital video interface 1.2 of central controller processor 1.1,1.1 pairs of central controller processors are handled by the video signals that digital video interface 1.2 inserts, and deposit in the memory image in the video in 1.16 by memory interface 1.6; Central controller processor 1.1 links to each other with network interface 1.8 too by data/address bus, the processed video data are encapsulated through the UDP procotol, be sent to wireless router 1.19, wireless router 1.19 is sent to remote control terminal 3 by wired, wireless network with above-mentioned UDP video packets of data.
Central controller processor 1.1 is connected with robot wireless sending module 1.17 by serial ports 0, and the robot control command is sent to robot terminal actuator 2; Central controller processor 1.1 is connected with cell phone network Modem1.18 by serial ports 1, receives from the control command of cell phone network with to remote control terminal 3 and sends result; Central controller processor 1.1 is connected with actuator wireless communication module 4.2 in the device end actuator 4 by serial ports 2, and the end effector control command is sent to device end actuator 4, and the result returned of receiving equipment end effector 4.
Central controller processor 1.1 is by LCD interface 1.11, be connected with liquid crystal display screen 1.12, the operating state of central controller processor 1.1 is presented on the liquid crystal display screen 1.12, central controller processor 1.1 is connected with debugging acid 1.15 by debug port 1.14, debug by 1.15 pairs of central controller processors 1.1 of debugging acid, thereby realization is to the debugging of central controller 1.
Described robot terminal actuator 2 includes robot wireless receiving module 2.1, wireless camera 2.2, robot processor 2.3 and stepping motor module 2.4; Wherein:
Robot wireless receiving module 2.1 receives the robot motion's order from central controller 1, the output of robot wireless receiving module 2.1 is connected with the serial ports of robot processor 2.3, robot processor 2.3 is connected with stepping motor module 2.4 by parallel data, address bus, by receiving the umber of pulse that order calculates left and right two wheel stepping motor step-length correspondences, give stepping motor module 2.4 stepping motor is rotated, thereby realize moving of robot terminal actuator 2; The wireless camera 2.2 that install at robot terminal actuator 2 tops sends to the video analog signal of gathering the wireless camera receiver 1.5 of central controller 1 by wireless launcher.
Described remote control terminal 3 includes cell phone type control terminal 3.1, wiring logging-on function class control terminal 3.2, wireless Internet access class control terminal 3.3; Wherein:
Cell phone type terminal control unit 3.1 comprises the mobile phone of supporting diverse network, and the cell phone network 3.4 by telecommunication department is connected with the cell phone network Modem of central controller 1 and carries out communication; Wiring logging-on function class control terminal 3.2 refers to be connected to the equipment in the Internet, and the Internet network 3.5 by telecommunication department is connected with the unlimited router one .19 of central controller 1 and carries out communication; Wireless Internet access class control terminal 3.3 refers to be connected to the equipment in local area network (LAN) or the Internet, and Internet, www, special line diverse network 3.5 by local area network (LAN) or telecommunication department are connected with the wireless router 1.19 of central controller 1 and carry out communication.
Network in the mobile phone of described support diverse network comprises GSM or CDMA or 3G network, or other is used for the dedicated network of mobile communication.
The described equipment that can be connected in the Internet is meant set-top box or notebook computer or computer or server or intelligence exchange or routing device.
The described equipment that can be connected in local area network (LAN) or the Internet is PDA or the notebook computer that has wireless network card or computer or server or intelligent radio exchange or routing device.
Described device end actuator 4 includes temperature sensor 4.4, LED display module 4.5, D/A interface 4.6, solid-state voltage regulator 4.7, pressure regulation electric appliances 4.8, I/O interface 4.9, relay 4.10, Switch electrical equipment 4.11, transducer 4.12, transmitter 4.13 and A/D interface 4.14 in device end actuator processor 4.1, wireless communication module 4.2, serial ports 4.3, the sheet; Wherein:
The control signal that wireless communication module 4.2 receives from the wireless communication module in the central controller 1 1.13, by serial ports 4.3 access device end effector processors 4.1, device end actuator processor 4.1 is according to receiving next order and corresponding program, open the corresponding apparatus of connection, simultaneously the collection result of relevant device is handled through device end actuator processor 4.1, and the result is sent to wireless communication module 1.13 in the central controller 1 by wireless communication module 4.2; Device end actuator processor 4.1 is connected with D/A interface 4.6 by the parallel data address bus, make end effector processor 4.1 digital control amounts send into D/A interface 4.6 inputs, D/A interface 4.6 output light current voltage signals, be connected with the control input end of solid-state voltage regulator 4.7, make the output of solid-state voltage regulator 4.7 produce the forceful electric power power that drives the work of pressure regulation electric appliances, the output of solid-state voltage regulator 4.7 is connected with the power supply of pressure regulation electric appliances 4.8, and the pressure regulation electric appliances is carried out stepless voltage regulation and power supply.
Device end actuator processor 4.1 is connected with relay 4.10 by independent bits control I/O interface 4.9, make device end actuator processor 4.1 digital switch controlled quentity controlled variables send into relay 4.10 inputs, the Switch forceful electric power power of relay 4.10 output driving switch electric appliances work, the output of relay 4.10 is connected with the power supply of Switch electrical equipment 4.11, has realized switch control and power supply to the pressure regulation electric appliances; Transducer 4.12 outputs that insert are connected on the input of transmitter 4.13, the analog signal conversion that transmitter 4.13 produces transducer 4.12 becomes the sensor current signal of standard, be converted to the A/D interface 4.14 of the sensor voltage signal access device end effector 4 of standard again, A/D interface 4.14 is a digital signal with the Sensor Analog Relay System conversion of signals, be connected with device end actuator processor 4.1 by the parallel data address bus, realized collection sensor signal.
Temperature sensor 4.4 is directly directly passed to device end actuator processor 4.1 by bus on chip with digital signal in the sheet, realizes selection of temperature signal; Device end actuator processor 4.1 is connected with the input of LED display module by the parallel data address bus, realizes the demonstration to each execution result.
Many networks single-point accessing integration method, realize according to following steps:
1) different remote control terminals 3 will be ordered encapsulation according to the form that self uses, and be sent to central controller 1 by corresponding exchange equipment;
2) after central controller 1 is received the order that above-mentioned different control terminal 3 sends by its corresponding format, remove encapsulation according to respective protocol, command body is stayed, the Record ID condition code, handle by meaning of one's words identification, it is inserted integrated protocol conversion, is encapsulated into the command format that end effector can be discerned processing according to many networks single-point;
Described command body is: in the order that different control terminals 3 send by its corresponding format, and the data division relevant only with command context; And the packet header of relevant encapsulation, the irrelevant communications protocol part of bag tail information during with different control terminals, switching equipment communication do not belong to command body;
For the cell phone type control terminal, described ID condition code is: the character string that phone number and transmitting time, location information are formed;
For wireless Internet access class control terminal and wiring logging-on function class control terminal, described ID condition code is: the character string that IP address and transmitting time, location information are formed;
Described many networks single-point inserts integrated agreement: the communication format that is used for communication between central controller 1 and the end effector 5; Described end effector 5 comprises robot Terminal Type actuator 2 and control terminal actuator 4;
3) central controller 1 is sent to end effector with the order of above-mentioned encapsulation, and end effector 5 inserts integrated protocol analysis according to many networks single-point and carries out;
4) end effector 5 produces execution result, inserts integrated protocol encapsulation according to many networks single-point and sends to central controller 1;
5) central controller 1 inserts the execution result that the end effector 5 of integrated protocol analysis sends according to many networks single-point, according to the ID condition code, selects corresponding protocol that execution result is encapsulated;
6) central controller 1 is issued respective remote control terminal 3 with the execution result of above-mentioned encapsulation, and execution result is resolved, shown to remote control terminal 3.
Advantage compared with prior art of the present invention:
1) can realize robot that one of very-long-range control have the video acquisition function functions such as control, video simultaneous interpretation, device for switching, voltage-regulation, transducer (temperature, composition of air etc.) collection of walking by existing any main flow network (GSM, CDMA, 3G, Ethernet, WiFi, Internet).
2) household electrical appliance need not any transformation and can finish intelligent control, only need the household electrical appliance power supply is extracted from the 220V supply socket of previous access, insert the forceful electric power output port that the Smart Home nurse carries out terminal, the forceful electric power input power cord of the Smart Home nurse being carried out terminal is connected on the previous 220V supply socket that inserts of above-mentioned household electrical appliance, can finish the intelligent control of household electrical appliance and transform, realize 0~220 stepless voltage regulation.
3) intelligent robot terminal of the present invention can also be used for operational environments such as harmful operational environment and human unapproachable pipeline, allows robot replace the human monitoring work of finishing under the above-mentioned operational environment.
Description of drawings
Accompanying drawing 1 Smart Home nurse (IHA) circuit system module connection layout
Accompanying drawing 2 Smart Home nurse (IHA) systems soft ware flow charts
Accompanying drawing network more than 3 single-point accessing integration method (MSAI) method 1 unified access method block diagram
Accompanying drawing network more than 4 single-point accessing integration method (MSAI) method 2 unified processing method block diagrams
Embodiment
Describe present embodiment in detail below in conjunction with Fig. 1~Fig. 4.
1, Smart Home nurse system realization scheme:
As shown in Figure 2, Smart Home nurse system is made of central controller 1, robot terminal actuator 2, remote control terminal 3 and 4 four major parts of device end actuator;
1.1 central controller 1
The ARM9 chip of selecting S3C2410 in the present embodiment for use is as the central controller processor 1.1 in the central controller 1, S3C2410 carries 3 serial ports, be respectively applied for: serial ports 0, serial ports 1, serial ports 2, S3C2410 carries lcd controller, directly conduct: LCD interface 1.11, S3C2410 carries jtag interface, and promptly as the debugging interface 1.14 of central controller 1, the data of S3C2410, address bus are directly as memory interface 1.6; The CPLD chip of selecting EPM3032 for use is as digital video interface 1.2 processing logics and sequential relationship, selecting the ADV7183 decoding chip for use is 54M as Video Decoder 1.3 its operating frequencies, resolution is 10, the video-frequency connector jack of use standard is as video simulation interface 1.4, select for use the DM9000 network card chip as Ethernet interface 1.8 chips, select LQ043T3DX01 liquid crystal display screen 1.12 for use, use general wireless camera receiver 1.5, select the unlimited digital transmission module wireless communication module 1.13 of 200m distance for use, debugging acid 1.15 is selected real-time JTAG simulator of ARM complete series Muti-ICE and computer for use, memory 1.16 is selected the IED hard disk of 1GB for use, use robot wireless sending module 1.17 finished products, the Modem that selects the GSM network for use is as cell phone network Modem, select the unlimited router one .19 of 802.11 agreement 108M for use, under its annexation figure:
The data/address bus of the central controller processor 1.1S3C2410 of central controller 1 is DATA0~DATA31, address bus is ADDR0~ADDR26, control bus mainly is made of control signals such as WR, RD, ALE, is connected with central controller 1 other modules by above-mentioned 3 kinds of buses; Wireless camera receiver 1.5 receives the video wireless signal that is sent by robot 2 by its antenna, and be translated into the normal video analog signal, the normal video output interface of wireless camera receiver 1.5 inserts the video simulation interface 1.4 of central controller 1, the other end of video simulation interface 1.4 links to each other with the video input interface AIN1 of Video Decoder 1.3ADV7183 chip, with analog signal through over-sampling, decoding, control interface and output interface P0~P15 inserts through the I/O input of the digital video interface EPM3032 of central controller processor 1.1 and carries out logical transition, the logic conversion results is sent into central controller processor 1.1 through the I/O output of EPM3032,1.1 pairs of video signals that inserted by digital video interface 1.2 of central controller processor are handled, and pass through data, the address, control bus links to each other with memory interface 1.6, deposits in the memory image in the video in 1.16; Central controller processor 1.1 links to each other with network interface 1.8 chip DM9000 too by data, address, control bus, the output of DM9000 links to each other with the LAN interface of wireless router 1.19 by the RJ45 netting twine, the processed video data are encapsulated through the UDP procotol, be sent to wireless router 1.19, wireless router 1.19 is sent to remote control terminal 3 by wired, wireless network with above-mentioned UDP video packets of data; Central controller processor 1.1 is connected with the serial ports input of robot wireless sending module 1.17 by serial ports 0, and the robot control command is sent to system device people 2; Central controller processor 1.1 is connected with the serial ports input of cell phone network Modem by serial ports 1, receives control command and transmission result from cell phone network; Central controller processor 1.1 is connected by the serial ports input of serial ports 2 and actuator wireless communication module 4.2, and the end effector control command is sent to end effector 3, and the result returned of receiving terminal actuator 3; Central controller processor 1.1 is by LCD interface R0~R7, G0~G7, B0~B7 and control signal CK, DISP, HSYNC, VSYNC, be connected with liquid crystal display screen 1.12, the operating state of central controller processor 1.1 is presented on the liquid crystal display screen 1.12, central controller processor 1.1 is connected with debugging acid JTAG by debug port JTAG, debug by 1.15 pairs of central controller processors 1.1 of debugging acid, thereby realization is to the debugging of central controller 1.
1.2 robot terminal actuator 2
Select for use C8051F330 single-chip microcomputer and EPM3032CPLD as robot processor 2.3 in the present embodiment, select 4 phase place 12V stepping motor modules 2.4 for use, robot wireless receiving module 2.1 is finished products supporting with robot wireless sending module 1.17, and wireless camera 2.2 is finished products supporting with general wireless camera receiver 1.5.
Robot wireless receiving module 2.1 is ordered by the robot motion that its antenna receives from central controller 1 robot wireless sending module 1.17, the output of robot wireless receiving module 2.1 is connected with the UART interface of robot processor 2.3 by the UART interface, robot processor 2.3 is by data D0~D7, address bus A0~A7 and control bus WR, RD, ALE inserts the I/O input of EPM3032, through the I/O output of logical conversion EPM3032 and the control input CK of stepping motor module, FW, EN connects, calculate a left side by receiving order, the umber of pulse of right two wheel stepping motor step-length correspondences, give stepping motor module 2.4 stepping motor is rotated, thereby realize moving of robot terminal actuator 2; The wireless camera 2.2 that install at robot terminal actuator 2 tops arrives the video analog signal of gathering the wireless camera receiver 1.5 of central controller 1 by the antenna transmission of unlimited reflector.
1.3 remote control terminal 3
Cell phone type terminal control unit 3.1 comprises the mobile phone of diverse networks such as supporting GSM, CDMA, 3G, and the cell phone network 3.4 by telecommunication department is connected with the cell phone network Modem of central controller 1 and carries out communication; Wiring logging-on function class control terminal 3.2 comprises the various equipment that can be connected in the Internet such as set-top box, notebook computer, computer, and Internet, www, special line diverse network 3.5 by telecommunication department are connected with the LAN interface of the unlimited router one .19 of central controller 1 and carry out communication; Wireless Internet access class control terminal 3.3 comprises PDA, has the various equipment that can be connected in local area network (LAN) or the Internet such as the notebook computer of wireless network card, computer, and Internet, www, special line diverse network 3.5 by local area network (LAN) or telecommunication department are connected with the WLAN interface (passing through antenna) of the unlimited router one .19 of central controller 1 and carry out communication.
1.4 device end actuator 4
Select the device end actuator processor 4.1 of C8051F330 in the present embodiment for use as core, select for use the unlimited digital transmission module of 200M as wireless communication module 4.2, carry serial ports 4.3 in the C8051F330 sheet, carry temperature sensor 4.4, carry D/A interface 4.6, carry A/D interface 4.14, carry I/O interface 4.9; Select for use 88 sections LED to show 4.5 as LED, select for use the 220V10A solid-state voltage regulator as solid-state voltage regulator 4.7, select 220V10A relay 4.10 for use, selection and test pressure regulation electric appliances 4.8 are as electric light, select and tested Switch electrical equipment 4.11, as water heater, electric rice cooker, electric heater, air-conditioning, television set, microwave oven, selected for use Pt100 as transducer 4.12, and selected Pt100 special-purpose output 4~20mA or the optional sensor transducer 4.13 of 0~5V.
Wireless communication module 4.2 is by the control signal of its antenna reception from the wireless communication module 1.13 of central controller 1, serial ports by serial ports 4.3 access device end effector processors 4.1, device end actuator processor 4.1 is according to receiving next order and corresponding program, open the corresponding apparatus of connection, the collection result of various device is handled through device end actuator processor 4.1 simultaneously, the result is passed through wireless communication module 4.2, send to the wireless communication module 1.13 of central controller 1: device end actuator processor 4.1 is connected with D/A interface 4.6 by internal bus, make end effector processor 4.1 digital control amounts send into D/A interface 4.6 inputs, D/A interface 4.6 outputs 0~10V light current voltage signal, be connected with the control input end of solid-state voltage regulator 4.7, make the output of solid-state voltage regulator 4.7 produce the 0~220V forceful electric power power that drives the work of pressure regulation electric appliances, the output of solid-state voltage regulator 4.7 is connected with the power supply of pressure regulation electric appliances 4.8, has realized stepless voltage regulation and power supply to pressure regulation electric appliances such as electric lights; Device end actuator processor 4.1 is connected with the control end of relay 4.10 by independent bits control I/O interface 4.9, make device end actuator processor 0 or 5V digital switch controlled quentity controlled variable send into relay 4.10 inputs, 0 or 220V Switch forceful electric power power of relay 4.10 output driving switch electric appliances work, the output of relay 4.10 is connected with the power supply of Switch electrical equipment 4.11, has realized switch control and power supply to pressure regulation electric appliances such as water heater, electric rice cooker, electric heater, air-conditioning, television set, microwave ovens; Various kinds of sensors 4.12 three-way output outputs are connected on the three-way input of transmitter 4.13, the artifical resistance conversion of signals that transmitter 4.13 produces transducer 4.12 becomes 4~20mA sensor current signal of standard, be converted to the A/D interface 4.14 of 0~5V sensor voltage signal access device end effector (4) of standard again, A/D interface 4.14 is a digital signal with the Sensor Analog Relay System conversion of signals, be connected with device end actuator processor 4.1 by the C8051F internal bus, realized collection sensor signal; Temperature sensor 4.4 is directly directly passed to device end actuator processor 4.1 by bus on chip with digital signal in the sheet, realizes selection of temperature signal; Device end actuator processor 4.1 is connected with the input of LED display module by the parallel data address bus, realizes the demonstration to each execution result.
2, many networks single-point accessing integration method implementation:
Many networks single-point inserts integrated (Muti-net Single Access Integration, be called for short MSAI) method, unify two core methed formations of processing method (method 2---software realization) by many networks unified access method (method 1---hardware connections) and many networks
2.1 many networks single-point accessing integration method
As shown in Figure 3, refer to remote control terminal 3 with variety classes (3.1~3.3), be linked on the single central controller 1 by different access devices, different access waies is treated to identical control command by central controller 1, be sent to end effector 5 and carry out, execution result returns central controller 1, is treated to the return value that is adapted to distinct device by central controller 1 again, by different access devices 1, return remote control terminal 3 processes and displays of variety classes 1.
Mainly constitute by following 3 steps:
Step 1: receiving system and the communication modes of determining different control terminals;
Step 2: the receiving system of different control terminals is connected with the distinct interface of central controller, guarantees the both-way communication of data;
Step 3: central controller is connected by fixing interface with end effector, guarantees the both-way communication of data, so far finished the unified of hardware layer and inserted;
Specifically: the remote control terminal 3 of variety classes (3.1~3.3), as GSM mobile handset, the CDMA mobile phone, 3G mobile sends note or packet, processing through telecommunication department and base station 3.4, be converted into the mode of the used network of mobile phone Modem5.6, present embodiment is selected the Modem of GSM for use, be that the information unification that various mobile phone terminals send changes into the GSM network data, send to the Modem of GSM, mobile phone Modem5.6 is connected with the serial ports 1.9 of central controller 1 data is inserted, the data that central controller 1 is handled well, pass the Modem of GSM back by serial ports 1.9, be sent to cell phone network 3.4, cell phone network 3.4 is treated to the signal of response to network according to phone number, beams back GSM mobile handset, the CDMA mobile phone, cell phone network Terminal Type controllers such as 3G mobile.
In like manner, each network access equipment all has the IP address of oneself, wireless network row terminal control unit 3.3, PDA as the WiFi online, the computer expert of unlimited online crosses the WLAN interface that 802.11x wireless network 3.6 sends the data to unlimited router one .19, cable network row terminal control unit 3.2 passes through Internet, private line network 3.5 sends the data to wireless router 1.19LAN interface, wireless router 1.19 is connected with the Ethernet interface 1.8 of central controller 1 data is inserted, the data that central controller 1 is handled well, pass wireless router back by Ethernet interface 1.8, wireless router is sent to 802.11x wireless network 3.6 and Internet according to the IP address, private line network 3.5, thereby wireless router carries out route according to different IP addresses, sends return data.
2.2 many networks single-point accessing integration method:
Many networks single-point accessing integration method mainly is made of 6 core procedures, as shown in Figure 4:
Step 1: remote control terminal 3 is given an order according to the command format of oneself: different remote control terminals 3, send the note of opening electrical equipment as mobile phone, the proal order of notebook computer distribution of machine people, by different access devices, Modem and wireless router as GSM, the control command of different-format is sent to central controller 1, and this moment, the command format of encapsulation was different;
Step 2: central controller 1 is removed packet header with the order of different-format, the bag tail, only stay command body itself and ID condition code, for the cell phone type terminal, the ID condition code is by phone number, the current time location information constitutes, for wireless class control terminal, wired class control terminal, the ID condition code is number by IP address and current time, location information constitutes, command body is carried out semanteme identification, the method of meaning of one's words identification is selected the method for keyword coupling for use, be input as command body, output inserts integrated protocol encapsulation according to many networks single-point again becomes the command format that end effector can be discerned processing, and the command format that the order that this moment, different control terminals were sent is packaged into has been identical;
Step 3: central controller 1 sends unified control command to end effector 5, end effector 5 is carried out, and generation result to be returned, carry out terminal 4 as opening the electrical equipment order equipment that sends to, the proal order of robot is sent to robot carry out terminal 2, the command format that resolve this moment is identical;
Step 4: end effector 5 is beamed back central controller 1 with execution result, after the order of equipment actuator terminal execution temperature acquisition, temperature sensor A/D transformation result is beamed back central controller 1 by wireless communication module, and this moment, the execution result form of encapsulation was identical;
Step 5: central controller 1 is with the ID condition code of return results when receiving, execution result is selected different packing forms, add packet header and bag tail, the execution result that is encapsulated into different-format returns form, as the execution result that mails to mobile phone terminal is encapsulated as the note form, mails to the execution result of computer, is encapsulated as the tcp data bag, the video execution result that returns is encapsulated as the UDP message bag, and this moment, the execution result form of encapsulation was different;
Step 6: central controller 1 is according to ID number (cell-phone number or IP address) of remote control terminal 3, send to different switching equipment, thereby the execution result of different-format is sent to different classes of remote control terminal 3, the temperature sensor A/D transformation result of beaming back as equipment actuator terminal is issued the mobile phone control terminal by the Modem of GSM, issue computer by wireless router, terminal control unit receives display result, and the execution result form that resolve this moment is different;
3, system's operational process
Smart Home nurse system operational process is referring to accompanying drawing 2:
Step 1: after system powered on, the running parameter when reading last the use if start for the first time, then used the running parameter of acquiescence, opens all devices; Central controller is set up TCP Server server, waits for that terminal equipment connects, if there is not equipment to connect, system is with repeating step 1, if there is TCP to connect, system will enter step 2;
Step 2: when terminal equipment passes through the TCP connected system, whether system will inquire about current access device repeatedly has new order to arrive, if there is not new control command to arrive, system is with repeating step 2, if there is new control command to arrive, terminal control units such as for example at this moment long-range mobile phone or computer send control apparatus control command or robot movement directive, the central controller main program will call corresponding subprogram according to command number, open the corresponding apparatus fill order, execution result is returned terminal control units such as long-range mobile phone or computer and show, enter step 3 after the execution;
Step 3: judge that whether present instruction is the shutdown system instruction,, remove the current command, be about to the current command and become old order, will disregard during next execution in step 2, return step 2 if not the shutdown system instruction; If the shutdown system instruction, system will be preserved the work at present parameter, and close left and right sides equipment one by one, and central processing unit enters the low-power consumption standby state, enters step 4.
Step 4: system judges whether that the order of starting system arrives, if do not have, system keeps closing, the low-power consumption standby state, if there is the order of starting system to arrive, system start-up enters step 1.

Claims (8)

1, Smart Home nurse system is characterized in that: include central controller (1), robot terminal actuator (2), remote control terminal (3) and device end actuator (4); Wherein:
Central controller (1) includes central controller processor (1.1), digital video interface (1.2), Video Decoder (1.3), video simulation interface (1.4), wireless camera receiver (1.5), memory interface (1.6), serial ports 0 (1.7), Ethernet interface (1.8), serial ports 1 (1.9), serial ports 2 (1.10), LCD interface (1.11), liquid crystal display screen (1.12), wireless communication module (1.13), debugging interface (1.14), debugging acid (1.15), memory (1.16), robot wireless sending module (1.17), cell phone network Modem (1.18) and wireless router (1.19); Wherein:
Central controller processor (1.1) is by video simulation interface (1.4), wireless camera receiver (1.5) links to each other with wireless camera (2.2) in the robot terminal actuator, wireless camera receiver (1.5) in the central controller (1) receives the video wireless signal that is sent by robot terminal actuator (2), and be translated into the normal video analog signal, insert video simulation interface (1.4), the other end of video simulation interface (1.4) links to each other with Video Decoder (1.3), with analog signal through over-sampling, decoding is sent into central controller processor (1.1) through the digital video interface (1.2) of central controller processor (1.1), central controller processor (1.1) is handled the video signal that is inserted by digital video interface (1.2), deposits the image in the video in the memory (1.16) by memory interface (1.6); Central controller processor (1.1) links to each other with Ethernet interface (1.8) by data/address bus, the processed video data are encapsulated through the UDP procotol, be sent to wireless router (1.19), wireless router (1.19) is sent to remote control terminal (3) by wired, wireless network with above-mentioned UDP video packets of data;
Central controller processor (1.1) is connected with robot wireless sending module (1.17) by serial ports 0 (1.7), and the robot control command is sent to robot terminal actuator (2); Central controller processor (1.1) is connected with cell phone network Modem (1.18) by serial ports 1 (1.9), receives from the control command of cell phone network with to remote control terminal (3) and sends result; Central controller processor (1.1) is connected with actuator wireless communication module (4.2) in the device end actuator (4) by serial ports 2 (1.10), the end effector control command is sent to device end actuator (4), and the result returned of receiving equipment end effector (4);
Central controller processor (1.1) is by LCD interface (1.11), be connected with liquid crystal display screen (1.12), the operating state of central controller processor (1.1) is presented on the liquid crystal display screen (1.12), central controller processor (1.1) is connected with debugging acid (1.15) by debug port (1.14), by debugging acid (1.15) central controller processor (1.1) is debugged, thereby realization is to the debugging of central controller (1).
2, according to the Smart Home nurse system described in the claim 1, it is characterized in that: described robot terminal actuator (2) includes robot wireless receiving module (2.1), wireless camera (2.2), robot processor (2.3) and stepping motor module (2.4); Wherein:
Robot wireless receiving module (2.1) receives the robot motion's order from central controller (1), the output of robot wireless receiving module (2.1) is connected with the serial ports of robot processor (2.3), robot processor (2.3) is connected with stepping motor module (2.4) by parallel data, address bus, by receiving the umber of pulse that order calculates left and right two wheel stepping motor step-length correspondences, give stepping motor module (2.4) stepping motor is rotated, thereby realize moving of robot terminal actuator (2); The wireless camera (2.2) that install at robot terminal actuator (2) top sends to the video analog signal of gathering the wireless camera receiver (1.5) of central controller (1) by wireless launcher.
3, according to the Smart Home nurse system described in the claim 1, it is characterized in that: described remote control terminal (3) includes cell phone type control terminal (3.1), wiring logging-on function class control terminal (3.2), wireless Internet access class control terminal (3.3); Wherein:
Cell phone type terminal control unit (3.1) comprises the mobile phone of supporting diverse network, and the cell phone network (3.4) by telecommunication department is connected with the cell phone network Modem (1.18) of central controller (1) and carries out communication; Wiring logging-on function class control terminal (3.2) refers to be connected to the equipment in the Internet, and the Internet network (3.5) by telecommunication department is connected with the wireless router (1.19) of central controller (1) and carries out communication; Wireless Internet access class control terminal (3.3) refers to be connected to the equipment in local area network (LAN) or the Internet, and the Internet network (3.5) by local area network (LAN) or telecommunication department is connected with the wireless router (1.19) of central controller (1) and carries out communication.
4, according to the Smart Home nurse system described in the claim 3, it is characterized in that: the network in the mobile phone of described support diverse network comprises that GSM or CDMA or 3G network or other are used for the dedicated network of mobile communication.
5, according to the Smart Home nurse system described in the claim 3, it is characterized in that: the described equipment that can be connected in the Internet is meant set-top box or computer or intelligence exchange or routing device.
6, according to the Smart Home nurse system described in the claim 3, it is characterized in that: the described equipment that can be connected in local area network (LAN) or the Internet is PDA or computer or intelligent radio exchange or routing device.
7, according to the Smart Home nurse system described in the claim 1, it is characterized in that: described device end actuator (4) includes temperature sensor (4.4), LED display module (4.5), D/A interface (4.6), solid-state voltage regulator (4.7), pressure regulation electric appliances (4.8), I/O interface (4.9), relay (4.10), Switch electrical equipment (4.11), transducer (4.12), transmitter (4.13) and A/D interface (4.14) in device end actuator processor (4.1), wireless communication module (4.2), serial ports (4.3), the sheet; Wherein:
Wireless communication module (4.2) receives the control signal from the wireless communication module (1.13) in the central controller (1), by serial ports (4.3) access device end effector processor (4.1), device end actuator processor (4.1) is according to receiving next order and corresponding program, open the corresponding apparatus of connection, simultaneously the collection result of relevant device is handled through device end actuator processor (4.1), and the result is sent to wireless communication module (1.13) in the central controller (1) by wireless communication module (4.2); Device end actuator processor (4.1) is connected with D/A interface (4.6) by the parallel data address bus, make the digital control amount of end effector processor (4.1) send into D/A interface (4.6) input, D/A interface (4.6) output light current voltage signal, be connected with the control input end of solid-state voltage regulator (4.7), make the output of solid-state voltage regulator (4.7) produce the forceful electric power power that drives the work of pressure regulation electric appliances, the output of solid-state voltage regulator (4.7) is connected with the power supply of pressure regulation electric appliances (4.8), and the pressure regulation electric appliances is carried out stepless voltage regulation and power supply;
Device end actuator processor (4.1) is connected with relay (4.10) by independent bits control I/O interface (4.9), make device end actuator processor (4.1) digital switch controlled quentity controlled variable send into relay (4.10) input, the Switch forceful electric power power of relay (4.10) output driving switch electric appliances work, the output of relay (4.10) is connected with the power supply of Switch electrical equipment (4.11), has realized switch control and power supply to the pressure regulation electric appliances; Transducer (4.12) output that inserts is connected on the input of transmitter (4.13), the analog signal conversion that transmitter (4.13) produces transducer (4.12) becomes the sensor current signal of standard, be converted to the A/D interface (4.14) of the sensor voltage signal access device end effector (4) of standard again, A/D interface (4.14) is a digital signal with the Sensor Analog Relay System conversion of signals, be connected with device end actuator processor (4.1) by the parallel data address bus, realized collection sensor signal;
Temperature sensor (4.4) is directly directly passed to device end actuator processor (4.1) by bus on chip with digital signal in the sheet, realizes selection of temperature signal; Device end actuator processor (4.1) is connected with the input of LED display module by the parallel data address bus, realizes the demonstration to each execution result.
8, many networks single-point accessing integration method is characterized in that, realizes according to following steps:
1) different remote control terminals (3) will be ordered encapsulation according to the form that self uses, and be sent to central controller (1) by corresponding exchange equipment;
2) after central controller (1) is received the order that above-mentioned different control terminal (3) sends by its corresponding format, remove encapsulation according to respective protocol, command body is stayed, the Record ID condition code, handle by meaning of one's words identification, it is inserted integrated protocol conversion, is encapsulated into the command format that end effector can be discerned processing according to many networks single-point;
Described command body is: in the order that different control terminals (3) send by its corresponding format, and the data division relevant only with command context; And the packet header of relevant encapsulation, the irrelevant communications protocol part of bag tail information during with different control terminals, switching equipment communication do not belong to command body;
For the cell phone type control terminal, described ID condition code is: the character string that phone number and transmitting time, location information are formed;
For wireless Internet access class control terminal and wiring logging-on function class control terminal, described ID condition code is: the character string that IP address and transmitting time, location information are formed;
Described many networks single-point inserts integrated agreement: the communication format that is used for communication between central controller (1) and the end effector (5); Described end effector (5) comprises robot Terminal Type actuator (2) and control terminal actuator (4);
3) central controller (1) is sent to end effector with the order of above-mentioned encapsulation, and end effector (5) inserts integrated protocol analysis according to many networks single-point and carries out;
4) end effector (5) produces execution result, inserts integrated protocol encapsulation according to many networks single-point and sends to central controller (1);
5) central controller (1) inserts the execution result that the end effector (5) of integrated protocol analysis sends according to many networks single-point, according to the ID condition code, selects corresponding protocol that execution result is encapsulated;
6) central controller (1) is issued respective remote control terminal (3) with the execution result of above-mentioned encapsulation, and execution result is resolved, shown to remote control terminal (3).
CNB2007101779732A 2007-11-23 2007-11-23 Intelligent housekeeper system and multiple networks single-point accessing integration method CN100488149C (en)

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